相关论文: Hierarchical Behavioral Repertoires with Unsupervi…

Reinforcement learning has been successful in many tasks ranging from robotic control, games, energy management etc. In complex real world environments with sparse rewards and long task horizons, sample efficiency is still a major…

In the classic herding model, agents receive private signals about an underlying binary state of nature, and act sequentially to choose one of two possible actions, after observing the actions of their predecessors. We investigate what…

A longstanding goal of artificial intelligence is to create artificial agents capable of learning to perform tasks that require sequential decision making. Importantly, while it is the artificial agent that learns and acts, it is still up…

In reinforcement learning, pre-trained low-level skills have the potential to greatly facilitate exploration. However, prior knowledge of the downstream task is required to strike the right balance between generality (fine-grained control)…

Learning-based approaches have achieved remarkable performance in the domain of autonomous driving. Leveraging the impressive ability of neural networks and large amounts of human driving data, complex patterns and rules of driving behavior…

Robotic in-hand manipulation has been a long-standing challenge due to the complexity of modelling hand and object in contact and of coordinating finger motion for complex manipulation sequences. To address these challenges, the majority of…

The ongoing deep learning revolution has allowed computers to outclass humans in various games and perceive features imperceptible to humans during classification tasks. Current machine learning techniques have clearly distinguished…

This paper introduces a new algorithm for unsupervised learning of keypoint detectors and descriptors, which demonstrates fast convergence and good performance across different datasets. The training procedure uses homographic…

In real-world environments, robots need to be resilient to damages and robust to unforeseen scenarios. Quality-Diversity (QD) algorithms have been successfully used to make robots adapt to damages in seconds by leveraging a diverse set of…

Repertoire-based learning is a data-efficient adaptation approach based on a two-step process in which (1) a large and diverse set of policies is learned in simulation, and (2) a planning or learning algorithm chooses the most appropriate…

To be capable of lifelong learning in a real-life environment, robots have to tackle multiple challenges. Being able to relate physical properties they may observe in their environment to possible interactions they may have is one of them.…

While solving complex manipulation tasks, manipulation policies often need to learn a set of diverse skills to accomplish these tasks. The set of skills is often quite multimodal - each one may have a quite distinct distribution of actions…

This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…

Learning to control an environment without hand-crafted rewards or expert data remains challenging and is at the frontier of reinforcement learning research. We present an unsupervised learning algorithm to train agents to achieve…

We present a novel hierarchical model for human activity recognition. In contrast to approaches that successively recognize actions and activities, our approach jointly models actions and activities in a unified framework, and their labels…

What is a useful skill hierarchy for an autonomous agent? We propose an answer based on a graphical representation of how the interaction between an agent and its environment may unfold. Our approach uses modularity maximisation as a…

Towards the role of humanoid robots as squad mates in urban operations and other domains, we identified doors as a major area lacking capability development. In this paper, we focus on the ability of humanoid robots to navigate and deal…

This paper addresses the problem of learning abstractions that boost robot planning performance while providing strong guarantees of reliability. Although state-of-the-art hierarchical robot planning algorithms allow robots to efficiently…

Mobile soft robots offer compelling applications in fields ranging from urban search and rescue to planetary exploration. A critical challenge of soft robotic control is that the nonlinear dynamics imposed by soft materials often result in…

The automatic design of robots has existed for 30 years but has been constricted by serial non-differentiable design evaluations, premature convergence to simple bodies or clumsy behaviors, and a lack of sim2real transfer to physical…